358. Lead Vehicle Pullover To The Right evaluation scenario
In the lead_vehicle_pullover_to_the_right evaluation scenario, the lead vehicle is driving ahead of the Ego in the same lane and then pulls over to the right side of the road.
Scenario location: $FTX/logiq/scenario_library_post_match/vehicle_exit/lead_vehicle_pullover_to_the_right
358.1 Actors
The actors associated with this scenario are as follows:
| Actor | Description | Type | Depiction |
|---|---|---|---|
ego |
Vehicle under test | vehicle |
 |
vehicle_actor |
Lead vehicle | vehicle |
 |
358.2 Scenario phases
The phase descriptions are as follows:
358.2.1 lead_part
Ego: The Ego drives in the same lane with a lateral offset tolerance of lane_calculation_tolerance_length.
vehicle_actor: The vehicle_actor drives ahead of the Ego in the same lane, with a minimal speed of max_standstill_speed
358.2.2 pull_over
vehicle The vehicle drives on the road at a speed above min_driving_speed.
The vehicle turns the steering wheel to park on the side of the road, at an angle within the range of min_pull_over_turn_angle to
max_pull_over_turn_angle related to its lane. Then the vehicle slows down to a speed below min_driving_speed.
358.2.3 vehicle_stop
vehicle The vehicle is standing on the right side of the road at a speed below max_standstill_speed.
It doesn't have another vehicle ahead of it with a longitudinal distance of up to max_lon_distance_to_ahead_vehicle
and lateral distance of up to max_lat_distance_to_ahead_vehicle driving at a speed of up to max_speed_of_ahead_vehicle.
It is positioned in the rightmost lane and either it is within a lateral distance of less than max_lateral_distance_right_side
from the lane right boundary to the vehicle's rightmost point and within a lateral distance of more than
min_lateral_distance_left_side from the lane left boundary to the vehicle's leftmost point, or, its lane is a non-drivable lane.
The vehicle maintains a distance of at least minimal_offset_from_junction_start from a junction entry.
Its yaw angle is within the range of min_angle_diff to max_angle_diff relative to the lane.
358.3 Parameters
Use these parameters to constrain the scenario. If you do not set a specific value, the default value will be used.
| Parameter | Type | Description | Default value |
|---|---|---|---|
max_standstill_speed |
speed | Maximum speed of the vehicle to be considered as stopped | 1kph |
min_lead_part_phase_duration |
time | Minimal time of the lead_part phase |
2sec |
lane_calculation_tolerance_length |
length | The tolerance of lane calculation | 1m |
same_road_limit |
time | The time threshold for the vehicle_actor to be considered as driving on the same road as the Ego | 10sec |
min_driving_speed |
speed | Minimal speed of the vehicle to be considered as driving | 10kph |
min_duration_of_vehicle_stop_phase |
time | Minimal time of the vehicle_stop phase |
1sec |
max_duration_of_vehicle_stop_phase |
time | Maximal time of the vehicle_stop phase |
3sec |
max_duration_of_vehicle_is_driving_phase |
time | Maximal time of the vehicle_is_driving phase |
3sec |
max_duration_of_vehicle_is_slowing_down_phase |
time | Maximal time of the vehicle_is_slowing_down phase |
15sec |
min_parallel_parking_angle_diff |
angle | The minimum angle difference between the vehicle and its lane for the parking to be considered parallel | 345degree |
max_parallel_parking_angle_diff |
angle | The maximum angle difference between the vehicle and its lane for the parking to be considered parallel | 375degree |
max_lateral_distance_right_side |
length | The maximum lateral distance from the vehicle's rightmost point to the right lane boundary for the vehicle to be considered as stopped on the right side of the road. | 0.4m |
min_lateral_distance_left_side |
length | The minimum lateral distance from the vehicle's leftmost point to the left lane boundary for the vehicle to be considered as stopped on the right side of the road. | -1m |
minimal_offset_from_junction_start |
length | A negative offset from the start of the junction. If the vehicle is within this offset (e.g., -15 meters indicates 15 meters before the junction start), the scenario will not be captured. | -15m |
min_pull_over_turn_angle |
angle | The minimum acceptable turning angle between the vehicle and its lane when pulling over to a parking space from the road | 320degree |
max_pull_over_turn_angle |
angle | The maximum acceptable turning angle between the vehicle and its lane when pulling over to a parking space from the road | 357.5degree |
max_lon_distance_to_ahead_vehicle |
length | The maximum longitudinal distance to a vehicle ahead for the reference vehicle to be considered "in traffic". Is measured by center-to-center NOTE: actors of type 'stationary_vehicle' are not considered for this purpose | 15m |
max_lat_distance_to_ahead_vehicle |
length | The maximum lateral distance to the vehicle ahead for the reference vehicle to be considered "in traffic". Is measured by center-to-center NOTE: actors of type 'stationary_vehicle' are not considered for this purpose | 2m |
max_speed_of_ahead_vehicle |
speed | The maximum speed of the vehicle ahead for the reference vehicle to be considered "in traffic". NOTE: actors of type 'stationary_vehicle' are not considered for this purpose | 10kph |
The input items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Parameter | Type | Description | Default value |
|---|---|---|---|
kinds |
list of evaluation_object_kind | The possible kinds of vehicle_actor in the scenario | No default value |
358.4 Metrics
358.4.1 Coverage
[Click] The coverage items inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
vehicle_speed_at_start |
Speed of the agent at the start of the scenario | [0..150), every: 10.0 | mph |
[Click] The coverage items inherited from the sut.logiq_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_speed_at_start |
Longitudinal speed of the Ego at the start of the scenario | [0..160), every: 10.0 | mph |
358.4.2 KPI
[Click] The KPIs inherited from the sut.logiq_base_vehicle_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
vehicle_object_kind |
Object kind as derived from Foretify | object, person, cyclist, vehicle, truck, trailer, fod, animal, sign, bus, motorcycle, emergency_vehicle, stationary_vehicle | evaluation_object_kind |
vehicle_tracking_id |
The tracking id of the agent as described in the object list data. If the data comes from a generative run, the UID will be used | string | |
vehicle_avg_speed |
Average longitudinal speed of the agent throughout the scenario | mph | |
vehicle_max_speed |
Maximum speed of the agent throughout the scenario | mph | |
vehicle_min_speed |
Minimum speed of the agent throughout the scenario | mph | |
vehicle_max_lon_acceleration |
Maximum longitudinal acceleration of the agent throughout the scenario | mpsps | |
vehicle_min_lon_acceleration |
Minimum longitudinal acceleration of the agent throughout the scenario | mpsps | |
ego_min_ttc_to_vehicle |
Minimal time to collision with the reference vehicle throughout the scenario | s | |
ego_min_mttc_to_vehicle |
Minimal modified time to collision with the reference vehicle throughout the scenario | s |
[Click] The KPIs inherited from the sut.logiq_base_scenario scenario are as follows:
| Item | Description | Range | Unit/Type |
|---|---|---|---|
ego_max_lon_acceleration |
Maximum acceleration of the Ego throughout the scenario | mpsps | |
ego_min_lon_acceleration |
Minimum acceleration of the Ego throughout the scenario | mpsps | |
ego_min_speed |
Minimum longitudinal speed of the Ego throughout the scenario | mph | |
ego_avg_speed |
Average longitudinal speed of the Ego throughout the scenario | mph | |
ego_max_speed |
Maximum longitudinal speed of the Ego throughout the scenario | mph | |
interval_duration |
Interval duration of the scenario | s |
sut.lead_vehicle_pullover_to_the_right(min_lead_part_phase_duration: 2s, min_driving_speed: 10kph,
min_duration_of_vehicle_stop_phase: 1s, max_duration_of_vehicle_stop_phase: 3s,
max_lateral_distance_right_side: 0.4m, min_lateral_distance_left_side: -1m,
minimal_offset_from_junction_start: -15m,
kinds: [vehicle, cyclist, truck, emergency_vehicle, bus, motorcycle])